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<div class="title">GaitScheduler.cpp</div>  </div>
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<a href="../../db/daa/_gait_scheduler_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*========================= Gait Scheduler ============================*/</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/d3f/_gait_scheduler_8h.html">Controllers/GaitScheduler.h</a>&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">/*=========================== Gait Data ===============================*/</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a5d04848d6584e59e862974a7ae751ece">   13</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d9/d28/struct_gait_data.html#a5d04848d6584e59e862974a7ae751ece">GaitData&lt;T&gt;::zero</a>() {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="comment">// Stop any gait transitions</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  _nextGait = _currentGait;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="comment">// General Gait descriptors</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  periodTimeNominal = 0.0;      <span class="comment">// overall period time to scale</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  initialPhase = 0.0;           <span class="comment">// initial phase to offset</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  switchingPhaseNominal = 0.0;  <span class="comment">// nominal phase to switch contacts</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="comment">// Enable flag for each foot</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  gaitEnabled = Eigen::Vector4i::Zero();  <span class="comment">// enable gaint controlled legs</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="comment">// Time based descriptors</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  periodTime = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();           <span class="comment">// overall gait period time</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  timeStance = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();           <span class="comment">// total stance time</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  timeSwing = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();            <span class="comment">// total swing time</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  timeStanceRemaining = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();  <span class="comment">// stance time remaining</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  timeSwingRemaining = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();   <span class="comment">// swing time remaining</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="comment">// Phase based descriptors</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  switchingPhase = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();  <span class="comment">// phase to switch to swing</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  phaseVariable = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();   <span class="comment">// overall gait phase for each foot</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  phaseOffset = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();     <span class="comment">// nominal gait phase offsets</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  phaseScale = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();      <span class="comment">// phase scale relative to variable</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  phaseStance = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();     <span class="comment">// stance subphase</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  phaseSwing = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();      <span class="comment">// swing subphase</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="comment">// Scheduled contact states</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  contactStateScheduled = Eigen::Vector4i::Zero();  <span class="comment">// contact state of the foot</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  contactStatePrev =</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      Eigen::Vector4i::Zero();  <span class="comment">// previous contact state of the foot</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  touchdownScheduled = Eigen::Vector4i::Zero();  <span class="comment">// scheduled touchdown flag</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  liftoffScheduled = Eigen::Vector4i::Zero();    <span class="comment">// scheduled liftoff flag</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="comment">// Position of the feet in the world frame at events</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  posFootTouchdownWorld =</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      <a class="code" href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">Mat34&lt;T&gt;::Zero</a>();  <span class="comment">// foot position when scheduled to lift off</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  posFootLiftoffWorld =</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      <a class="code" href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">Mat34&lt;T&gt;::Zero</a>();  <span class="comment">// foot position when scheduled to touchdown</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;}</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">template</span> <span class="keyword">struct </span><a class="code" href="../../d9/d28/struct_gait_data.html">GaitData&lt;double&gt;</a>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">template</span> <span class="keyword">struct </span><a class="code" href="../../d9/d28/struct_gait_data.html">GaitData&lt;float&gt;</a>;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">/*========================= Gait Scheduler ============================*/</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="../../d1/d14/class_gait_scheduler.html#ab4d9ccc1c9f4bc1cb407fa8ffe961169">   63</a></span>&#160;<a class="code" href="../../d1/d14/class_gait_scheduler.html#ab4d9ccc1c9f4bc1cb407fa8ffe961169">GaitScheduler&lt;T&gt;::GaitScheduler</a>() {</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  initialize();</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;}</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="../../d1/d14/class_gait_scheduler.html#af81918cf6a309399af3d9aae8acc419e">   71</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d14/class_gait_scheduler.html#af81918cf6a309399af3d9aae8acc419e">GaitScheduler&lt;T&gt;::initialize</a>() {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;[GAIT] Initialize Gait Scheduler&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">// Start the gait in a trot since we use this the most</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  gaitData._currentGait = <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a>;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// Zero all gait data</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  gaitData.zero();</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">// Create the gait from the nominal initial</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  createGait();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="../../d1/d14/class_gait_scheduler.html#ae5b4bf8cf030f84bb71bf92d0645bbec">   89</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d14/class_gait_scheduler.html#ae5b4bf8cf030f84bb71bf92d0645bbec">GaitScheduler&lt;T&gt;::step</a>() {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="comment">// Create a new gait structure if a new gait has been requested</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">if</span> (gaitData._currentGait != gaitData._nextGait) {</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;[GAIT] Transitioning gait from &quot;</span> &lt;&lt; gaitData.gaitName</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; to &quot;</span>;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    createGait();</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    std::cout &lt;&lt; gaitData.gaitName &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    gaitData._currentGait = gaitData._nextGait;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  }</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="comment">// Iterate over the feet</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> foot = 0; foot &lt; 4; foot++) {</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordflow">if</span> (gaitData.gaitEnabled(foot) == 1) {</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="comment">// Monotonic time based phase incrementation</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keywordflow">if</span> (gaitData._currentGait == <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a>) {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="comment">// Don&#39;t increment the phase when in stand mode</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        dphase = 0.0;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        dphase = gaitData.phaseScale(foot) * (dt / gaitData.periodTimeNominal);</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="comment">// Find each foot&#39;s current phase</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      gaitData.phaseVariable(foot) =</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          fmod((gaitData.phaseVariable(foot) + dphase), 1);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="comment">// Check the current contact state</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordflow">if</span> (gaitData.phaseVariable(foot) &lt;= gaitData.switchingPhase(foot)) {</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="comment">// Foot is scheduled to be in contact</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        gaitData.contactStateScheduled(foot) = 1;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="comment">// Stance subphase calculation</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        gaitData.phaseStance(foot) =</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            gaitData.phaseVariable(foot) / gaitData.switchingPhase(foot);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="comment">// Swing phase has not started since foot is in stance</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        gaitData.phaseSwing(foot) = 0.0;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="comment">// Calculate the remaining time in stance</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        gaitData.timeStanceRemaining(foot) =</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;            gaitData.periodTime(foot) *</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            (gaitData.switchingPhase(foot) - gaitData.phaseVariable(foot));</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="comment">// Foot is in stance, no swing time remaining</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        gaitData.timeSwingRemaining(foot) = 0.0;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="comment">// First contact signifies scheduled touchdown</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordflow">if</span> (gaitData.contactStatePrev(foot) == 0) {</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          <span class="comment">// Set the touchdown flag to 1</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          gaitData.touchdownScheduled(foot) = 1;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          <span class="comment">// Remember the location of the feet at touchdown</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          <span class="comment">// posFootTouchdownWorld = ;</span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          <span class="comment">// Set the touchdown flag to 0</span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;          gaitData.touchdownScheduled(foot) = 0;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        }</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="comment">// Foot is not scheduled to be in contact</span></div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        gaitData.contactStateScheduled(foot) = 0;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="comment">// Stance phase has completed since foot is in swing</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        gaitData.phaseStance(foot) = 1.0;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="comment">// Swing subphase calculation</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        gaitData.phaseSwing(foot) =</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;            (gaitData.phaseVariable(foot) - gaitData.switchingPhase(foot)) /</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            (1.0 - gaitData.switchingPhase(foot));</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="comment">// Foot is in swing, no stance time remaining</span></div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        gaitData.timeStanceRemaining(foot) = 0.0;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="comment">// Calculate the remaining time in swing</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        gaitData.timeSwingRemaining(foot) =</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;            gaitData.periodTime(foot) * (1 - gaitData.phaseVariable(foot));</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="comment">// First contact signifies scheduled touchdown</span></div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keywordflow">if</span> (gaitData.contactStatePrev(foot) == 1) {</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          <span class="comment">// Set the liftoff flag to 1</span></div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          gaitData.liftoffScheduled(foot) = 1;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          <span class="comment">// Remember the location of the feet at touchdown</span></div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          <span class="comment">// posFootLiftoffWorld = ;</span></div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          <span class="comment">// Set the liftoff flag to 0</span></div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          gaitData.liftoffScheduled(foot) = 0;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        }</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      }</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="comment">// Leg is not enabled</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      gaitData.phaseVariable(foot) = 0.0;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="comment">// Foot is not scheduled to be in contact</span></div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      gaitData.contactStateScheduled(foot) = 0;</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    }</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="comment">// Set the previous contact state for the next timestep</span></div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    gaitData.contactStatePrev(foot) = gaitData.contactStateScheduled(foot);</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;}</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="../../d1/d14/class_gait_scheduler.html#a3f47d51b88bca6f18e412fe2240ceab5">  212</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d14/class_gait_scheduler.html#a3f47d51b88bca6f18e412fe2240ceab5">GaitScheduler&lt;T&gt;::createGait</a>() {</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="comment">// Case structure gets the appropriate parameters</span></div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">switch</span> (gaitData._nextGait) {</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a>:</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;STAND&quot;</span>;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      gaitData.periodTimeNominal = 10.0;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      gaitData.switchingPhaseNominal = 1.0;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.5, 0.5, 0.5, 0.5;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70">GaitType::STAND_CYCLE</a>:</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;STAND_CYCLE&quot;</span>;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      gaitData.periodTimeNominal = 1.0;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      gaitData.switchingPhaseNominal = 1.0;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.5, 0.5, 0.5, 0.5;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f">GaitType::STATIC_WALK</a>:</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;STATIC_WALK&quot;</span>;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      gaitData.periodTimeNominal = 1.25;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      gaitData.switchingPhaseNominal = 0.8;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.25, 0.0, 0.75, 0.5;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d">GaitType::AMBLE</a>:</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;AMBLE&quot;</span>;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      gaitData.periodTimeNominal = 1.0;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      gaitData.switchingPhaseNominal = 0.8;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.0, 0.5, 0.25, 0.75;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc">GaitType::TROT_WALK</a>:</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;TROT_WALK&quot;</span>;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      gaitData.periodTimeNominal = 0.5;</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      gaitData.switchingPhaseNominal = 0.6;</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.0, 0.5, 0.5, 0.0;</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d">GaitType::TROT</a>:</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;TROT&quot;</span>;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      gaitData.periodTimeNominal = 0.5;</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      gaitData.switchingPhaseNominal = 0.5;</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.0, 0.5, 0.5, 0.0;</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16">GaitType::TROT_RUN</a>:</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;TROT_RUN&quot;</span>;</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      gaitData.periodTimeNominal = 0.5;</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      gaitData.switchingPhaseNominal = 0.4;</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.0, 0.5, 0.5, 0.0;</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef">GaitType::PACE</a>:</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;PACE&quot;</span>;</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      gaitData.periodTimeNominal = 0.5;</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      gaitData.switchingPhaseNominal = 0.5;</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.0, 0.5, 0.0, 0.5;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42">GaitType::BOUND</a>:</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;BOUND&quot;</span>;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      gaitData.periodTimeNominal = 0.5;</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      gaitData.switchingPhaseNominal = 0.5;</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.0, 0.0, 0.5, 0.5;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82">GaitType::ROTARY_GALLOP</a>:</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;ROTARY_GALLOP&quot;</span>;</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      gaitData.periodTimeNominal = 0.4;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      gaitData.switchingPhaseNominal = 0.2;</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.0, 0.8571, 0.3571, 0.5;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae">GaitType::TRAVERSE_GALLOP</a>:</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="comment">// TODO: find the right sequence, should be easy</span></div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;TRAVERSE_GALLOP&quot;</span>;</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      gaitData.periodTimeNominal = 0.5;</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      gaitData.switchingPhaseNominal = 0.2;</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.0, 0.8571, 0.3571, 0.5;</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f">GaitType::PRONK</a>:</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;PRONK&quot;</span>;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      gaitData.periodTimeNominal = 0.5;</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      gaitData.switchingPhaseNominal = 0.5;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.0, 0.0, 0.0, 0.0;</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a">GaitType::THREE_FOOT</a>:</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;THREE_FOOT&quot;</span>;</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      gaitData.gaitEnabled &lt;&lt; 0, 1, 1, 1;</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      gaitData.periodTimeNominal = 0.5;</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      gaitData.switchingPhaseNominal = 0.5;</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      gaitData.phaseOffset &lt;&lt; 0.0, 0.666, 0.0, 0.333;</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      gaitData.phaseScale &lt;&lt; 0.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818">GaitType::CUSTOM</a>:</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;CUSTOM&quot;</span>;</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="comment">// TODO: get custom gait parameters from operator GUI</span></div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3">GaitType::TRANSITION_TO_STAND</a>:</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      gaitData.gaitName = <span class="stringliteral">&quot;TRANSITION_TO_STAND&quot;</span>;</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      T oldGaitPeriodTimeNominal = gaitData.periodTimeNominal;</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      gaitData.periodTimeNominal = 3 * gaitData.periodTimeNominal;</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      gaitData.initialPhase = 0.0;</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      gaitData.switchingPhaseNominal =</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;          (gaitData.periodTimeNominal +</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;           oldGaitPeriodTimeNominal * (gaitData.switchingPhaseNominal - 1)) /</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;          gaitData.periodTimeNominal;</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      gaitData.phaseOffset &lt;&lt; (gaitData.periodTimeNominal +</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;                               oldGaitPeriodTimeNominal *</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;                                   (gaitData.phaseVariable(0) - 1)) /</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;                                  gaitData.periodTimeNominal,</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;          (gaitData.periodTimeNominal +</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;           oldGaitPeriodTimeNominal * (gaitData.phaseVariable(1) - 1)) /</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;              gaitData.periodTimeNominal,</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;          (gaitData.periodTimeNominal +</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;           oldGaitPeriodTimeNominal * (gaitData.phaseVariable(2) - 1)) /</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;              gaitData.periodTimeNominal,</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;          (gaitData.periodTimeNominal +</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;           oldGaitPeriodTimeNominal * (gaitData.phaseVariable(3) - 1)) /</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;              gaitData.periodTimeNominal;</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  }</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  <span class="comment">// Set the gait parameters for each foot</span></div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> foot = 0; foot &lt; 4; foot++) {</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    <span class="keywordflow">if</span> (gaitData.gaitEnabled(foot) == 1) {</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      <span class="comment">// The scaled period time for each foot</span></div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      gaitData.periodTime(foot) =</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;          gaitData.periodTimeNominal / gaitData.phaseScale(foot);</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      <span class="comment">// Phase at which to switch the foot from stance to swing</span></div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      gaitData.switchingPhase(foot) = gaitData.switchingPhaseNominal;</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      <span class="comment">// Initialize the phase variables according to offset</span></div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      gaitData.phaseVariable(foot) =</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;          gaitData.initialPhase + gaitData.phaseOffset(foot);</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      <span class="comment">// Find the total stance time over the gait cycle</span></div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      gaitData.timeStance(foot) =</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;          gaitData.periodTime(foot) * gaitData.switchingPhase(foot);</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      <span class="comment">// Find the total swing time over the gait cycle</span></div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      gaitData.timeSwing(foot) =</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;          gaitData.periodTime(foot) * (1.0 - gaitData.switchingPhase(foot));</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <span class="comment">// The scaled period time for each foot</span></div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      gaitData.periodTime(foot) = 0.0;</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="comment">// Phase at which to switch the foot from stance to swing</span></div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;      gaitData.switchingPhase(foot) = 0.0;</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      <span class="comment">// Initialize the phase variables according to offset</span></div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      gaitData.phaseVariable(foot) = 0.0;</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      <span class="comment">// Foot is never in stance</span></div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      gaitData.timeStance(foot) = 0.0;</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      <span class="comment">// Foot is always in &quot;swing&quot;</span></div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      gaitData.timeSwing(foot) = 1.0 / gaitData.periodTime(foot);</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    }</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  }</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;}</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;</div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00424"></a><span class="lineno"><a class="line" href="../../d1/d14/class_gait_scheduler.html#a32eeebff7f2116ba025c588b7e0dfc6b">  424</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d14/class_gait_scheduler.html#a32eeebff7f2116ba025c588b7e0dfc6b">GaitScheduler&lt;T&gt;::printGaitInfo</a>() {</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  <span class="comment">// Increment printing iteration</span></div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;  printIter++;</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  <span class="comment">// Print at requested frequency</span></div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  <span class="keywordflow">if</span> (printIter == printNum) {</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;[GAIT SCHEDULER] Printing Gait Info...\n&quot;</span>;</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Gait Type: &quot;</span> &lt;&lt; gaitData.gaitName &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;---------------------------------------------------------\n&quot;</span>;</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Enabled: &quot;</span> &lt;&lt; gaitData.gaitEnabled(0) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span></div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;              &lt;&lt; gaitData.gaitEnabled(1) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span> &lt;&lt; gaitData.gaitEnabled(2)</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | &quot;</span> &lt;&lt; gaitData.gaitEnabled(3) &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Period Time: &quot;</span> &lt;&lt; gaitData.periodTime(0) &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span></div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;              &lt;&lt; gaitData.periodTime(1) &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span> &lt;&lt; gaitData.periodTime(2)</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span> &lt;&lt; gaitData.periodTime(3) &lt;&lt; <span class="stringliteral">&quot;s\n&quot;</span>;</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;---------------------------------------------------------\n&quot;</span>;</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Contact State: &quot;</span> &lt;&lt; gaitData.contactStateScheduled(0) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span></div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;              &lt;&lt; gaitData.contactStateScheduled(1) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span></div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;              &lt;&lt; gaitData.contactStateScheduled(2) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span></div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;              &lt;&lt; gaitData.contactStateScheduled(3) &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Phase Variable: &quot;</span> &lt;&lt; gaitData.phaseVariable(0) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span></div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;              &lt;&lt; gaitData.phaseVariable(1) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span> &lt;&lt; gaitData.phaseVariable(2)</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | &quot;</span> &lt;&lt; gaitData.phaseVariable(3) &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Stance Time Remaining: &quot;</span> &lt;&lt; gaitData.timeStanceRemaining(0)</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span> &lt;&lt; gaitData.timeStanceRemaining(1) &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span></div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;              &lt;&lt; gaitData.timeStanceRemaining(2) &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span></div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;              &lt;&lt; gaitData.timeStanceRemaining(3) &lt;&lt; <span class="stringliteral">&quot;s\n&quot;</span>;</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Swing Time Remaining: &quot;</span> &lt;&lt; gaitData.timeSwingRemaining(0)</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span> &lt;&lt; gaitData.timeSwingRemaining(1) &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span></div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;              &lt;&lt; gaitData.timeSwingRemaining(2) &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span></div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;              &lt;&lt; gaitData.timeSwingRemaining(3) &lt;&lt; <span class="stringliteral">&quot;s\n&quot;</span>;</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    std::cout &lt;&lt; std::endl;</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    <span class="comment">// Reset iteration counter</span></div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    printIter = 0;</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;  }</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;}</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;</div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;<span class="keyword">template</span> <span class="keyword">class </span><a class="code" href="../../d1/d14/class_gait_scheduler.html">GaitScheduler&lt;double&gt;</a>;</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;<span class="keyword">template</span> <span class="keyword">class </span><a class="code" href="../../d1/d14/class_gait_scheduler.html">GaitScheduler&lt;float&gt;</a>;</div><div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef">GaitType::PACE</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d">GaitType::AMBLE</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3">GaitType::TRANSITION_TO_STAND</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_af81918cf6a309399af3d9aae8acc419e"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#af81918cf6a309399af3d9aae8acc419e">GaitScheduler::initialize</a></div><div class="ttdeci">void initialize()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/daa/_gait_scheduler_8cpp_source.html#l00071">GaitScheduler.cpp:71</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42">GaitType::BOUND</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70">GaitType::STAND_CYCLE</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a">GaitType::THREE_FOOT</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_ae5b4bf8cf030f84bb71bf92d0645bbec"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#ae5b4bf8cf030f84bb71bf92d0645bbec">GaitScheduler::step</a></div><div class="ttdeci">void step()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/daa/_gait_scheduler_8cpp_source.html#l00089">GaitScheduler.cpp:89</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a9a619c10ca4afba68f09ef05ab2364c6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">Mat34</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 3, 4 &gt; Mat34</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00086">cppTypes.h:86</a></div></div>
<div class="ttc" id="class_gait_scheduler_html"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html">GaitScheduler</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00087">GaitScheduler.h:87</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16">GaitType::TROT_RUN</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818">GaitType::CUSTOM</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a32eeebff7f2116ba025c588b7e0dfc6b"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a32eeebff7f2116ba025c588b7e0dfc6b">GaitScheduler::printGaitInfo</a></div><div class="ttdeci">void printGaitInfo()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/daa/_gait_scheduler_8cpp_source.html#l00424">GaitScheduler.cpp:424</a></div></div>
<div class="ttc" id="struct_gait_data_html_a5d04848d6584e59e862974a7ae751ece"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a5d04848d6584e59e862974a7ae751ece">GaitData::zero</a></div><div class="ttdeci">void zero()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/daa/_gait_scheduler_8cpp_source.html#l00013">GaitScheduler.cpp:13</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a738072d0d6a7a632be68f6261501826b"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Vec4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00030">cppTypes.h:30</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae">GaitType::TRAVERSE_GALLOP</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc">GaitType::TROT_WALK</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f">GaitType::STATIC_WALK</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d">GaitType::TROT</a></div></div>
<div class="ttc" id="struct_gait_data_html"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html">GaitData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00033">GaitScheduler.h:33</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a3f47d51b88bca6f18e412fe2240ceab5"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a3f47d51b88bca6f18e412fe2240ceab5">GaitScheduler::createGait</a></div><div class="ttdeci">void createGait()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/daa/_gait_scheduler_8cpp_source.html#l00212">GaitScheduler.cpp:212</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_ab4d9ccc1c9f4bc1cb407fa8ffe961169"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#ab4d9ccc1c9f4bc1cb407fa8ffe961169">GaitScheduler::GaitScheduler</a></div><div class="ttdeci">GaitScheduler()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/daa/_gait_scheduler_8cpp_source.html#l00063">GaitScheduler.cpp:63</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f">GaitType::PRONK</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82">GaitType::ROTARY_GALLOP</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html">GaitScheduler.h</a></div></div>
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